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I
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Vo
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15
,
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.
5
,
Octo
b
er
20
25
,
p
p
.
4
4
0
9
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4
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I
SS
N:
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clim
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[
1
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W
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tr
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p
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[
2
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–
[
4
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.
E
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(
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As
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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t J E
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&
C
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,
Vo
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15
,
No
.
5
,
Octo
b
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r
20
25
:
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4
0
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4
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as
id
ea
l
ch
o
ice
s
wh
en
ev
alu
ated
a
g
ain
s
t a
ll r
elev
an
t c
r
iter
ia.
I
n
ter
m
s
o
f
m
o
to
r
co
n
tr
o
l
s
tr
ateg
ies
,
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
h
as
g
ain
ed
atten
ti
o
n
f
o
r
its
s
im
p
licity
an
d
d
y
n
am
ic
p
er
f
o
r
m
an
ce
.
B
o
b
in
a
n
d
B
en
o
[
1
0
]
h
ig
h
lig
h
ted
th
at
DT
C
o
f
f
er
s
s
ev
er
al
ad
v
a
n
tag
es
o
v
er
f
ield
-
o
r
ie
n
ted
co
n
tr
o
l
(
FOC
)
.
DT
C
d
em
o
n
s
tr
ates
g
r
ea
ter
r
esis
tan
ce
to
ex
ter
n
al
d
is
tu
r
b
an
ce
s
,
ad
a
p
ts
b
etter
to
v
ar
iatio
n
s
in
o
p
er
atin
g
co
n
d
itio
n
s
,
an
d
elim
in
ates
th
e
n
ee
d
f
o
r
r
e
f
er
en
ce
f
r
am
e
tr
an
s
f
o
r
m
atio
n
s
[
1
1
]
.
Ad
d
itio
n
ally
,
it
p
r
o
v
i
d
es
a
s
u
p
er
io
r
d
y
n
am
ic
r
esp
o
n
s
e
co
m
p
ar
ed
to
th
e
FOC
m
eth
o
d
.
Fu
r
th
er
m
o
r
e
,
Me
s
lo
u
b
et
a
l.
[
1
2
]
co
n
d
u
cted
a
s
tu
d
y
in
v
o
lv
i
n
g
b
o
th
s
im
u
latio
n
an
d
r
ea
l
-
wo
r
l
d
im
p
lem
e
n
tatio
n
o
f
tr
ad
itio
n
al
DT
C
an
d
DT
C
-
SVM
f
o
r
PMSMs.
T
h
e
f
in
d
in
g
s
in
d
icate
t
h
at
th
e
SVM
-
b
ased
ap
p
r
o
ac
h
d
eliv
er
s
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
i
n
c
o
m
p
a
r
is
o
n
to
tr
ad
itio
n
al
DT
C
,
n
o
tab
ly
i
n
r
e
d
u
cin
g
f
lu
x
a
n
d
to
r
q
u
e
r
ip
p
les
.
I
n
ad
d
itio
n
to
s
elec
tin
g
an
e
f
f
ec
tiv
e
co
n
tr
o
l
s
tr
ateg
y
,
th
e
d
esig
n
o
f
th
e
co
n
tr
o
ller
its
elf
i
s
cr
itical.
Ag
ar
wal
et
a
l.
[
1
3
]
d
e
m
o
n
s
tr
a
ted
th
at
f
r
ac
tio
n
al
-
o
r
d
er
co
n
tr
o
ller
s
o
f
f
er
g
r
ea
ter
f
lex
ib
ilit
y
i
n
ad
ju
s
tin
g
th
e
tim
e
an
d
f
r
eq
u
e
n
cy
r
esp
o
n
s
es
o
f
c
o
n
tr
o
l
s
y
s
tem
s
co
m
p
ar
ed
to
tr
ad
itio
n
al
PID
co
n
tr
o
ller
s
,
m
a
k
in
g
f
r
ac
tio
n
al
-
o
r
d
er
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
-
d
e
r
iv
ativ
e
(
FOPID)
a
m
o
r
e
ef
f
ec
tiv
e
o
p
tio
n
.
Ah
m
ed
et
a
l.
[
1
4
]
f
u
r
t
h
er
en
h
an
ce
d
FOPID
p
er
f
o
r
m
an
ce
b
y
u
s
in
g
a
h
y
b
r
i
d
g
r
ey
w
o
lf
o
p
tim
izer
(
GW
O)
,
d
em
o
n
s
tr
atin
g
th
at
th
e
GW
O
-
FOPID
ap
p
r
o
ac
h
s
i
g
n
i
f
i
c
a
n
t
l
y
i
m
p
r
o
v
e
d
t
h
e
d
r
i
v
e
s
y
s
t
e
m
'
s
d
y
n
a
m
i
c
r
e
s
p
o
n
s
e
a
n
d
c
o
n
t
r
o
l
a
c
c
u
r
a
c
y
o
v
e
r
c
o
n
v
e
n
t
i
o
n
a
l
P
I
D
m
e
t
h
o
d
s
.
T
o
e
n
h
a
n
c
e
v
e
h
ic
l
e
s
t
a
b
i
l
it
y
a
n
d
s
a
f
e
t
y
,
H
a
r
t
a
n
i
et
a
l
.
[
1
5
]
d
e
m
o
n
s
t
r
a
t
e
d
t
h
a
t
t
h
e
e
le
c
t
r
o
n
i
c
d
i
f
f
e
r
e
n
ti
a
l
p
r
e
c
i
s
e
l
y
r
e
g
u
la
t
es
t
h
e
s
p
e
e
d
s
o
f
t
h
e
d
r
i
v
i
n
g
w
h
e
e
l
s
,
e
n
s
u
r
i
n
g
h
i
g
h
a
c
c
u
r
a
c
y
o
n
b
o
t
h
f
l
a
t
a
n
d
c
u
r
v
e
d
r
o
a
d
s
.
E
x
p
an
d
i
n
g
o
n
p
r
ev
io
u
s
r
esear
ch
,
th
is
s
tu
d
y
p
r
esen
ts
an
in
n
o
v
ativ
e
co
n
tr
o
l
s
tr
ateg
y
f
o
r
t
wo
-
wh
ee
l
-
d
r
iv
e
elec
tr
ic
v
eh
icles
(
T
W
D
E
V)
,
in
co
r
p
o
r
atin
g
FOPID
co
n
tr
o
ller
s
o
p
tim
ized
t
h
r
o
u
g
h
th
e
r
ec
en
t
GW
O,
in
teg
r
ated
i
n
DT
C
-
SVM
tech
n
iq
u
e
f
o
r
r
o
b
u
s
t
an
d
ef
f
icien
t
m
o
to
r
m
an
ag
e
m
en
t,
a
n
d
an
el
ec
tr
o
n
ic
d
i
f
f
er
en
tial
(
E
D)
f
o
r
p
r
ec
is
e
wh
ee
l
s
p
ee
d
co
o
r
d
in
atio
n
an
d
v
eh
icle
s
tab
ilit
y
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
b
r
in
g
s
s
ev
er
al
n
o
v
el
co
n
tr
ib
u
tio
n
s
:
ad
ap
tiv
e
tu
n
in
g
o
f
FOPID
co
n
tr
o
ller
s
v
ia
th
e
GW
O
m
etah
eu
r
is
tic
alg
o
r
ith
m
to
en
h
an
ce
co
n
tr
o
l
r
esp
o
n
s
iv
en
ess
an
d
p
ar
a
m
eter
o
p
tim
izatio
n
;
in
teg
r
atio
n
o
f
DT
C
-
SVM
with
GW
O
-
FO
PI
D
to
d
eliv
e
r
ac
c
u
r
ate
to
r
q
u
e
a
n
d
s
p
ee
d
r
eg
u
latio
n
wh
ile
m
in
im
izin
g
co
m
p
u
tatio
n
a
l
b
u
r
d
e
n
;
an
d
th
e
u
s
e
o
f
a
n
ele
ctr
o
n
ic
d
if
f
e
r
en
tial
to
im
p
r
o
v
e
h
an
d
lin
g
an
d
tr
ac
t
io
n
,
p
ar
ticu
lar
l
y
d
u
r
in
g
co
r
n
e
r
in
g
.
C
o
llectiv
ely
,
th
ese
in
n
o
v
atio
n
s
r
ep
r
esen
t
a
s
ig
n
if
ican
t
ad
v
an
ce
m
en
t
in
d
ev
elo
p
in
g
s
m
ar
t,
h
ig
h
-
p
er
f
o
r
m
an
ce
,
an
d
d
ep
en
d
ab
le
c
o
n
tr
o
l
s
o
lu
tio
n
s
f
o
r
m
o
d
er
n
elec
tr
ic
v
eh
icle
ap
p
licatio
n
s
.
T
h
is
ar
ticle
is
s
tr
u
ctu
r
ed
in
to
8
s
ec
tio
n
s
wh
er
e
s
ec
tio
n
2
d
is
p
lay
s
th
e
PMSM
m
o
d
el
,
s
ec
tio
n
3
ex
p
lain
s
th
e
DT
C
-
SVM
co
n
tr
o
l te
ch
n
iq
u
e
o
f
th
e
p
r
o
p
o
s
ed
m
o
to
r
s
,
s
ec
tio
n
4
illu
s
tr
ates th
e
FOPID
co
n
tr
o
ller
s
,
th
e
s
ec
tio
n
5
ex
p
lain
s
th
e
m
et
ah
eu
r
is
tic
alg
o
r
ith
m
,
s
ec
tio
n
6
illu
s
tr
ate
th
e
T
W
D
E
V
m
o
d
el,
s
ec
tio
n
7
co
v
er
s
th
e
s
im
u
latio
n
an
d
r
esu
lts
,
an
d
t
h
e
co
n
clu
s
io
n
s
o
f
th
is
co
n
tr
i
b
u
tio
n
ar
e
p
r
o
v
id
ed
in
th
e
last
s
ec
tio
n
.
2.
P
M
S
M
M
A
T
H
E
M
A
T
I
CA
L
M
O
DE
L
T
o
illu
s
tr
ate
th
e
u
s
e
o
f
v
ar
ia
b
le
s
p
ee
d
co
n
tr
o
l,
th
e
m
o
d
elin
g
o
f
t
h
e
p
er
m
an
en
t
m
ag
n
et
s
y
n
ch
r
o
n
o
u
s
m
ac
h
in
e
(
PMSM)
is
b
ased
o
n
s
tan
d
ar
d
m
ec
h
a
n
ical
an
d
elec
tr
ical
p
ar
am
eter
s
.
T
h
ese
p
ar
a
m
eter
s
d
escr
ib
e
th
e
m
ac
h
in
e'
s
elec
tr
o
m
ec
h
an
ical
an
d
elec
tr
o
m
a
g
n
etic
b
eh
av
io
r
.
T
h
e
m
o
d
el
also
i
n
clu
d
es
a
s
et
o
f
s
im
p
lify
in
g
ass
u
m
p
tio
n
s
to
f
ac
ilit
ate
an
aly
s
is
an
d
s
im
u
latio
n
as
f
o
llo
w:
ir
o
n
s
atu
r
atio
n
in
th
e
m
o
to
r
'
s
s
tato
r
is
ig
n
o
r
ed
,
h
y
s
ter
esis
ef
f
ec
ts
an
d
ed
d
y
cu
r
r
en
t
ar
e
d
is
r
eg
ar
d
e
d
,
an
d
th
e
th
r
ee
-
p
h
ase
win
d
in
g
s
o
f
th
e
s
tato
r
ar
e
ass
u
m
ed
to
b
e
s
y
m
m
etr
ical
[
1
6
]
.
T
h
e
m
at
h
em
atica
l m
o
d
el
o
f
th
ePMSM
in
th
e
α
-
β c
o
o
r
d
i
n
ate
s
y
s
tem
is
as f
o
llo
ws
[
1
7
]
:
Vo
ltag
e
eq
u
atio
n
s
:
{
=
+
=
+
(
1
)
E
q
u
a
t
i
o
n
s
(
1
)
d
e
s
c
r
i
b
e
t
h
e
v
o
lta
g
e
s
a
c
r
o
s
s
t
h
e
s
t
a
t
o
r
wi
n
d
i
n
g
s
,
i
n
c
o
r
p
o
r
a
t
i
n
g
t
h
e
r
e
s
is
t
i
v
e
c
o
m
p
o
n
e
n
t
a
n
d
t
h
e
t
i
m
e
-
v
a
r
y
i
n
g
m
a
g
n
e
t
i
c
f
l
u
x
.
T
h
e
y
r
e
p
r
e
s
e
n
t
t
h
e
d
y
n
a
m
i
c
b
e
h
av
i
o
r
o
f
t
h
e
s
t
a
t
o
r
i
n
t
h
e
α
-
β
r
e
f
er
e
n
c
e
f
r
a
m
e
.
Ma
g
n
etic
ch
ain
eq
u
atio
n
s
:
{
=
+
=
+
(
2
)
T
h
ese
ex
p
r
ess
io
n
s
d
ef
in
e
th
e
m
ag
n
etic
f
l
u
x
lin
k
ag
e
f
o
r
ea
c
h
ax
is
,
co
m
b
i
n
in
g
th
e
s
tato
r
'
s
s
elf
-
in
d
u
cta
n
ce
an
d
th
e
co
n
s
tan
t
f
lu
x
f
r
o
m
t
h
e
r
o
to
r
m
a
g
n
ets.
T
h
e
m
o
d
el
as
s
u
m
es
th
at
th
e
s
tato
r
h
as
id
en
tical
in
d
u
ctan
ce
v
alu
es a
lo
n
g
b
o
th
th
e
α
an
d
β
ax
es d
u
e
to
s
y
m
m
etr
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Op
timiz
ed
fr
a
ctio
n
a
l
-
o
r
d
er d
ir
ec
t to
r
q
u
e
co
n
tr
o
l wi
th
s
p
a
ce
ve
cto
r
mo
d
u
la
tio
n
…
(
To
u
h
a
mi
N
a
w
a
l
)
4411
B
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
eq
u
a
tio
n
s
:
{
=
=
−
=
=
−
(
3
)
T
h
ese
eq
u
atio
n
s
q
u
an
tify
th
e
b
ac
k
E
MF
g
en
er
ated
in
th
e
s
tato
r
win
d
in
g
s
as a
r
esu
lt o
f
r
o
to
r
r
o
tatio
n
.
T
h
ey
ar
e
ess
en
tial f
o
r
esti
m
atin
g
r
o
t
o
r
s
p
ee
d
an
d
p
o
s
itio
n
.
T
h
e
eq
u
atio
n
f
o
r
elec
tr
o
m
a
g
n
etic
to
r
q
u
e
an
d
th
e
m
o
tio
n
e
q
u
atio
n
o
f
t
h
e
PMSM
in
th
e
d
-
q
p
la
n
o
f
th
e
r
o
tatin
g
r
ef
er
en
ce
f
r
am
e
.
{
=
3
2
=
−
−
(
4
)
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
is
d
ir
ec
tly
r
elate
d
to
th
e
q
-
ax
is
cu
r
r
en
t
a
n
d
th
e
p
er
m
an
e
n
t
m
ag
n
et
f
lu
x
.
T
h
e
s
ec
o
n
d
eq
u
atio
n
m
o
d
el
s
th
e
r
o
t
o
r
’
s
r
o
tatio
n
al
d
y
n
a
m
ics,
wh
er
e
th
e
ch
a
n
g
e
in
a
n
g
u
lar
s
p
ee
d
d
ep
en
d
s
o
n
th
e
n
et
to
r
q
u
e
a
f
ter
s
u
b
tr
ac
tin
g
lo
ad
to
r
q
u
e
a
n
d
m
ec
h
an
ical
f
r
ictio
n
.
T
h
is
is
ess
en
tially
a
r
o
tatio
n
al
f
o
r
m
o
f
New
to
n
’
s
s
ec
o
n
d
law.
W
h
er
e
U
α
,
U
β
r
ep
r
esen
t
th
e
v
o
ltag
e
co
m
p
o
n
en
ts
in
th
e
α
-
β
p
lan
;
I
α
,
I
β
d
e
n
o
te
th
e
v
alu
es
o
f
th
e
cu
r
r
en
t
alo
n
g
th
e
α
-
β
p
lan
;
Φ
α
,
Φ
β
r
ef
er
to
th
e
v
alu
es
o
f
th
e
m
ag
n
etic
f
lu
x
alo
n
g
th
e
α
-
β
p
lan
;
R
s
is
th
e
s
tato
r
r
esis
to
r
;
L
s
is
in
d
u
ctan
ce
o
f
th
e
s
tato
r
; Φ
f
r
e
p
r
esen
ts
th
e
p
er
m
an
e
n
t m
ag
n
e
t f
lu
x
lin
k
a
g
e;
e
α
, e
β
a
r
e
th
e
in
d
u
ce
d
elec
tr
o
m
o
tiv
e
f
o
r
ce
s
alo
n
g
th
e
α
-
β
p
lan
e;
ω
e
is
t
h
e
r
o
to
r
'
s
elec
tr
ical
an
g
u
lar
v
elo
city
;
N
p
is
th
e
n
u
m
b
e
r
o
f
p
o
les;
I
q
is
th
e
cu
r
r
en
t
al
o
n
g
th
e
q
-
ax
is
;
ω
m
i
s
th
e
r
o
tatio
n
al
an
g
u
lar
v
elo
ci
ty
;
J
is
th
e
m
o
m
en
t
o
f
in
e
r
tia;
B
is
th
e
d
am
p
in
g
co
ef
f
icien
t; T
e
is
th
e
m
o
t
o
r
’
s
e
lectr
o
m
ag
n
etic
to
r
q
u
e;
T
L
is
th
e
m
o
to
r
’
s
lo
a
d
to
r
q
u
e.
3.
D
I
R
E
C
T
T
O
R
Q
U
E
C
O
N
T
R
O
L
W
I
T
H
S
P
A
C
E
V
E
C
T
O
R
M
O
D
U
L
A
T
I
O
N
C
O
N
T
R
O
L
O
F
P
M
S
M
T
h
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
with
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
DT
C
-
SVM)
s
tr
ateg
y
en
h
an
ce
s
tr
ad
itio
n
al
DT
C
b
y
s
ig
n
if
ican
tly
m
in
im
iz
in
g
to
r
q
u
e
r
ip
p
le,
a
c
o
m
m
o
n
i
s
s
u
e
ca
u
s
ed
b
y
th
e
i
n
ac
cu
r
ate
p
o
s
itio
n
in
g
o
f
th
e
s
tato
r
f
lu
x
v
ec
t
o
r
.
I
n
th
is
im
p
r
o
v
e
d
ap
p
r
o
ac
h
,
th
e
c
o
n
tr
o
l
s
y
s
tem
s
till
r
ec
eiv
es
th
e
to
r
q
u
e
an
d
s
tato
r
f
lu
x
co
m
m
an
d
s
as
in
p
u
ts
,
b
u
t
in
s
tead
o
f
u
s
in
g
h
y
s
ter
esis
co
n
tr
o
ller
s
an
d
s
witch
in
g
tab
l
es,
it
in
co
r
p
o
r
ates
p
r
o
p
o
r
tio
n
al
-
in
te
g
r
al
(
PI)
co
n
tr
o
ller
s
f
o
r
b
o
th
to
r
q
u
e
an
d
f
lu
x
r
e
g
u
latio
n
.
T
h
e
PI
c
o
n
tr
o
ller
f
o
r
to
r
q
u
e
g
en
er
ates
a
lo
ad
a
n
g
le
co
m
m
a
n
d
(
δ*
)
b
ased
o
n
th
e
to
r
q
u
e
e
r
r
o
r
,
wh
ile
th
e
f
lu
x
c
o
n
tr
o
ller
p
r
o
d
u
ce
s
a
v
o
ltag
e
an
g
le
co
m
m
an
d
to
en
s
u
r
e
p
r
e
cise
p
o
s
itio
n
in
g
o
f
th
e
s
tato
r
f
lu
x
ac
co
r
d
in
g
to
th
e
m
o
to
r
’
s
r
ea
l
-
tim
e
r
o
tatio
n
al
s
p
ee
d
an
d
esti
m
ated
f
lu
x
lin
k
a
g
e.
T
h
ese
two
o
u
tp
u
ts
—
th
e
lo
ad
an
g
le
an
d
v
o
ltag
e
an
g
le
co
m
m
an
d
s
—
ar
e
u
s
ed
to
s
y
n
th
esize
a
r
ef
er
en
ce
s
tat
o
r
v
o
ltag
e
v
ec
to
r
,
wh
ich
is
th
en
ap
p
lied
to
th
e
in
v
er
ter
th
r
o
u
g
h
a
s
p
ac
e
v
ec
to
r
m
o
d
u
latio
n
(
SVM)
b
lo
ck
.
T
h
is
m
o
d
u
latio
n
tech
n
i
q
u
e
all
o
ws
f
o
r
s
m
o
o
th
an
d
co
n
tin
u
o
u
s
s
witch
in
g
at
a
co
n
s
tan
t
f
r
e
q
u
en
c
y
,
im
p
r
o
v
in
g
o
v
er
all
m
o
to
r
p
er
f
o
r
m
a
n
ce
,
r
ed
u
ci
n
g
to
r
q
u
e
a
n
d
f
lu
x
r
ip
p
les,
an
d
in
cr
ea
s
in
g
th
e
ef
f
icien
cy
a
n
d
s
tab
ilit
y
o
f
th
e
d
r
iv
e
s
y
s
tem
[
1
8
]
.
Fig
u
r
e
1
p
r
esen
ts
th
e
im
p
lem
en
tatio
n
o
f
th
is
DT
C
-
SVM
co
n
tr
o
l m
o
d
el
f
o
r
th
e
p
er
m
an
e
n
t m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
(
PMSM
)
u
s
in
g
MA
T
L
AB
/Si
m
u
lin
k
.
Fig
u
r
e
1
.
Simu
lin
k
b
lo
c
k
o
f
DT
C
-
SVM
co
n
tr
o
l f
o
r
PMSM
u
s
ed
in
th
is
s
tu
d
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
5
,
Octo
b
e
r
20
25
:
4
4
0
9
-
4
4
2
0
4412
4.
F
R
A
CT
I
O
N
AL
-
O
RD
E
R
P
RO
P
O
R
T
I
O
N
AL
I
NT
E
G
R
AL
D
E
RI
VAT
I
VE
C
O
NT
R
O
L
L
E
R
B
ef
o
r
e
d
esig
n
in
g
a
f
r
ac
tio
n
al
-
o
r
d
er
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
iv
ativ
e
(
FOPID)
co
n
tr
o
ller
,
it
is
ess
en
tial
to
u
n
d
er
s
tan
d
th
e
f
u
n
d
am
en
tal
c
o
n
ce
p
ts
o
f
f
r
ac
tio
n
al
-
o
r
d
er
(
FO)
ca
lcu
l
u
s
,
p
ar
ticu
lar
ly
th
e
FO
-
d
er
iv
ativ
e
an
d
FO
-
in
teg
r
al
o
p
er
ato
r
s
.
T
h
ese
o
p
e
r
ato
r
s
ex
ten
d
th
e
co
n
ce
p
t
o
f
d
if
f
er
en
tiatio
n
an
d
in
teg
r
atio
n
to
n
o
n
-
in
teg
er
(
f
r
a
ctio
n
al)
o
r
d
er
s
,
p
r
o
v
id
in
g
m
o
r
e
f
lex
ib
le
a
n
d
p
r
ec
is
e
d
y
n
a
m
ic
m
o
d
elin
g
to
o
ls
.
T
h
e
m
ath
em
atica
l
f
o
u
n
d
atio
n
s
an
d
p
r
o
p
er
ties
o
f
FO
o
p
er
ato
r
s
ar
e
well
d
o
cu
m
e
n
ted
in
th
e
liter
atu
r
e
an
d
h
a
v
e
led
to
a
g
r
o
win
g
in
ter
est
in
ap
p
ly
in
g
f
r
ac
tio
n
al
ca
lcu
lu
s
i
n
co
n
tr
o
l
s
y
s
tem
s
.
T
h
e
FOPID
co
n
tr
o
ller
,
f
ir
s
t
in
tr
o
d
u
ce
d
in
1
9
9
9
,
ex
te
n
d
s
th
e
class
ical
PID
co
n
tr
o
ller
b
y
in
co
r
p
o
r
atin
g
two
ad
d
itio
n
al
p
ar
am
eter
s
λ
an
d
µ
r
ep
r
esen
tin
g
th
e
o
r
d
er
s
o
f
in
te
g
r
atio
n
an
d
d
if
f
er
en
tiatio
n
,
r
e
s
p
ec
tiv
ely
.
T
h
e
g
en
er
al
m
ath
e
m
atica
l
ex
p
r
ess
io
n
o
f
th
e
FOPID
co
n
tr
o
ller
is
[
1
9
]
:
(
)
=
+
+
µ
(
5
)
w
h
er
e
λ
an
d
µ
ca
n
v
ar
y
b
etw
ee
n
0
an
d
2
[
2
0
]
,
k
p
,
k
i
,
an
d
k
d
r
ep
r
esen
t
th
e
co
n
tr
o
ller
'
s
p
o
s
itiv
e
g
ain
s
.
Un
lik
e
th
e
tr
ad
itio
n
al
PID
co
n
tr
o
ller
[
2
1
]
,
wh
ich
is
lim
ited
to
in
teg
er
-
o
r
d
er
o
p
er
atio
n
s
,
th
e
FOPID
co
n
tr
o
ller
's
tu
n
ab
le
λ
an
d
µ
p
ar
am
eter
s
o
f
f
er
g
r
ea
ter
f
lex
i
b
ilit
y
in
s
h
ap
in
g
s
y
s
tem
d
y
n
am
ics.
T
h
is
allo
ws
f
o
r
m
o
r
e
ef
f
ec
tiv
e
tu
n
in
g
an
d
im
p
r
o
v
e
d
p
er
f
o
r
m
an
ce
ac
r
o
s
s
a
b
r
o
a
d
er
r
an
g
e
o
f
s
y
s
tem
co
n
d
itio
n
s
,
m
ak
in
g
FOPID
co
n
tr
o
ller
s
p
ar
ticu
lar
l
y
ad
v
an
t
ag
eo
u
s
in
co
m
p
lex
o
r
h
i
g
h
ly
n
o
n
lin
ea
r
s
y
s
tem
s
[
2
2
]
,
[
2
3
]
.
5.
M
E
T
AH
E
URI
ST
I
C
AL
G
O
RIT
H
M
G
RE
Y
WO
L
F
O
P
T
I
M
I
Z
E
R
I
n
2
0
1
4
,
Sey
e
d
ali
Mir
jalili
an
d
co
lleag
u
es
in
tr
o
d
u
ce
d
th
e
g
r
ey
wo
lf
o
p
tim
izer
(
GW
O)
,
an
in
n
o
v
ativ
e
m
etah
eu
r
is
tic
alg
o
r
ith
m
in
s
p
ir
ed
b
y
th
e
n
atu
r
al
h
u
n
tin
g
tactics
an
d
s
o
cial
d
y
n
a
m
ics
o
f
g
r
e
y
wo
lf
p
ac
k
s
[
2
4
]
.
T
h
is
alg
o
r
ith
m
is
g
r
o
u
n
d
ed
i
n
th
e
o
b
s
er
v
atio
n
t
h
at
g
r
e
y
wo
lv
es
ex
h
ib
it
h
ig
h
ly
o
r
g
an
i
ze
d
an
d
c
o
o
p
e
r
ativ
e
b
eh
av
io
r
s
d
u
r
in
g
h
u
n
tin
g
,
wh
ich
en
ab
le
th
em
to
ef
f
icien
tly
lo
ca
te,
e
n
cir
cle,
an
d
ca
p
tu
r
e
p
r
e
y
.
I
n
t
h
e
wild
,
g
r
ey
wo
lv
es
liv
e
in
s
tr
u
ctu
r
ed
p
ac
k
s
g
o
v
er
n
ed
b
y
a
s
tr
ict
s
o
cial
h
ier
ar
ch
y
,
wh
er
e
ea
c
h
m
e
m
b
er
h
as
a
d
ef
in
ed
r
o
le
th
at
co
n
tr
ib
u
tes
to
th
e
co
llectiv
e
s
u
cc
ess
o
f
th
e
g
r
o
u
p
.
T
h
e
GW
O
m
o
d
els
th
is
h
ier
ar
ch
y
b
y
d
iv
id
in
g
t
h
e
p
o
p
u
latio
n
in
to
f
o
u
r
d
is
tin
ct
lev
els:
alp
h
a
(
α
)
,
b
eta
(
β),
d
elt
a
(
δ)
,
a
n
d
o
m
eg
a
(
ω
)
.
T
h
e
al
p
h
a
wo
lv
es
a
r
e
th
e
lead
er
s
an
d
p
r
im
ar
y
d
ec
is
io
n
-
m
ak
er
s
wh
o
d
eter
m
in
e
th
e
p
ac
k
’
s
h
u
n
tin
g
s
tr
ateg
y
an
d
d
ir
ec
t
m
o
v
em
e
n
ts
.
B
etas
s
er
v
e
as
ad
v
is
o
r
s
an
d
ar
e
s
ec
o
n
d
-
in
-
co
m
m
a
n
d
,
h
elp
in
g
to
r
ef
in
e
s
tr
ateg
ies
an
d
p
o
ten
tially
tak
in
g
o
v
e
r
lead
er
s
h
ip
if
n
ee
d
e
d
.
Deltas
ac
t
as
s
u
b
o
r
d
in
ates
wh
o
ass
is
t
with
h
u
n
tin
g
an
d
s
co
u
tin
g
tas
k
s
,
s
u
p
p
o
r
tin
g
th
e
alp
h
as
an
d
b
etas.
Fin
ally
,
th
e
o
m
eg
as
o
cc
u
p
y
th
e
lo
west
r
a
n
k
,
m
ain
tain
in
g
p
ac
k
co
h
esio
n
an
d
f
o
llo
win
g
th
e
lead
o
f
h
i
g
h
er
-
r
an
k
e
d
wo
l
v
es.
T
h
e
h
u
n
tin
g
b
eh
a
v
io
r
its
elf
is
ch
ar
ac
ter
ize
d
b
y
t
h
r
ee
m
ain
p
h
ases
:
tr
ac
k
in
g
th
e
p
r
ey
,
ch
asin
g
it,
an
d
f
in
ally
attac
k
in
g
,
wh
ich
th
e
alg
o
r
i
th
m
m
ath
em
atica
lly
em
u
late
s
.
I
n
t
h
e
GW
O’
s
m
ath
em
atica
l
m
o
d
el,
it
is
ass
u
m
ed
th
at
th
e
to
p
th
r
ee
wo
lv
es α
,
β,
an
d
δ h
av
e
a
n
ac
cu
r
ate
u
n
d
er
s
tan
d
in
g
o
f
t
h
e
p
r
ey
’
s
p
o
s
itio
n
,
g
u
id
in
g
th
e
s
ea
r
ch
p
r
o
ce
s
s
.
T
h
e
o
m
eg
a
wo
lv
es
th
en
u
p
d
ate
th
eir
p
o
s
itio
n
s
b
ased
o
n
th
e
m
o
v
em
en
ts
a
n
d
in
s
ig
h
ts
o
f
th
e
s
e
lead
er
s
,
th
er
e
b
y
s
im
u
latin
g
co
o
p
er
ativ
e
h
u
n
tin
g
.
T
h
is
h
ier
ar
ch
ical
an
d
s
o
cial
h
u
n
tin
g
ap
p
r
o
ac
h
allo
ws
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e
GW
O
to
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ce
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p
lo
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atio
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d
e
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e
f
f
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tiv
ely
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co
m
p
lex
o
p
tim
izatio
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r
o
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lem
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ak
i
n
g
it
a
v
er
s
atile
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d
p
o
wer
f
u
l
a
lg
o
r
ith
m
f
o
r
s
o
lv
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g
a
wid
e
r
a
n
g
e
o
f
e
n
g
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ee
r
i
n
g
an
d
co
m
p
u
tatio
n
al
c
h
allen
g
es
[
2
5
]
,
[
2
6
]
.
T
h
e
co
r
r
esp
o
n
d
in
g
m
ath
em
atica
l f
o
r
m
u
las ar
e
p
r
o
v
id
ed
b
el
o
w
[
2
6
]
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1
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alp
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b
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an
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d
elta
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r
esp
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⃗
⃗
⃗
⃗
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,
⃗
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r
ep
r
esen
t r
ef
e
r
to
t
h
e
p
r
esen
t
an
d
s
u
b
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eq
u
e
n
t iter
atio
n
s
o
lu
ti
o
n
s
,
r
esp
ec
tiv
ely
.
,
d
en
o
te
th
e
co
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f
icien
t v
ec
to
r
s
.
1
⃗
⃗
⃗
,
2
⃗
⃗
⃗
ar
e
r
a
n
d
o
m
v
ec
to
r
s
with
in
th
e
r
an
g
e
[
0
,
1
]
.
r
ep
r
esen
ts
th
e
m
ax
im
u
m
n
u
m
b
er
o
f
iter
atio
n
s
.
Fig
u
r
e
2
p
r
esen
ts
th
e
GW
O
a
lg
o
r
ith
m
'
s
f
lo
wch
ar
t,
illu
s
tr
ati
n
g
ea
ch
s
tag
e
o
f
th
e
p
r
o
ce
s
s
.
I
n
PMSM
co
n
tr
o
l
s
y
s
tem
s
,
th
e
GW
O
is
ap
p
lied
to
f
in
e
-
tu
n
e
p
ar
am
ete
r
s
s
u
ch
as
PID
co
n
tr
o
ller
g
ain
s
,
aim
in
g
to
r
ed
u
ce
s
p
ee
d
er
r
o
r
an
d
to
r
q
u
e
r
ip
p
l
e.
I
t
id
en
tifie
s
o
p
tim
al
v
alu
es
b
y
ass
es
s
in
g
d
if
f
er
en
t
p
ar
a
m
eter
co
m
b
in
atio
n
s
th
r
o
u
g
h
s
im
u
latio
n
s
.
Key
s
etti
n
g
s
lik
e
p
o
p
u
latio
n
s
ize
an
d
th
e
n
u
m
b
er
o
f
iter
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n
s
ar
e
ca
r
e
f
u
lly
ch
o
s
en
b
ased
o
n
s
y
s
tem
lim
itatio
n
s
.
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ce
o
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tim
ized
,
th
ese
p
ar
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eter
s
ar
e
im
p
lem
en
ted
in
r
ea
l
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tim
e
co
n
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o
l.
Ov
er
all,
GW
O
en
h
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ce
s
co
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tr
o
l
p
er
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o
r
m
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ce
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d
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o
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ates
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o
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in
s
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tim
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tech
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es
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tr
ic
m
o
to
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ap
p
licatio
n
s
.
T
a
b
le
1
p
r
o
v
id
es th
e
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ar
am
eter
s
u
s
ed
f
o
r
s
im
u
latin
g
th
e
GW
O
alg
o
r
ith
m
.
Fig
u
r
e
2
.
Diag
r
a
m
o
f
th
e
GW
O
alg
o
r
ith
m
p
r
o
ce
s
s
[
2
7
]
T
ab
le
1
.
T
h
e
p
ar
am
ete
r
s
em
p
l
o
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ed
in
th
e
GW
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alg
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r
ith
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I
SS
N
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8
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I
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lec
&
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g
,
Vo
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15
,
No
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5
,
Octo
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4414
6.
T
WO
-
WH
E
E
L
D
RIV
E
E
L
E
CT
RI
C
VE
H
I
CL
E
SY
ST
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M
T
h
e
E
V
d
r
iv
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s
y
s
tem
is
c
o
m
p
o
s
ed
o
f
th
r
ee
f
u
n
d
am
en
tal
s
u
b
s
y
s
tem
s
th
at
wo
r
k
in
h
ar
m
o
n
y
to
en
s
u
r
e
ef
f
icien
t
an
d
r
eliab
le
v
e
h
icle
o
p
er
atio
n
:
th
e
en
e
r
g
y
s
o
u
r
c
e,
th
e
tr
ac
tio
n
s
y
s
tem
,
an
d
t
h
e
s
u
p
p
lem
en
tar
y
s
u
b
s
y
s
tem
.
T
h
e
en
e
r
g
y
s
o
u
r
c
e
s
u
b
s
y
s
tem
p
r
im
ar
ily
in
clu
d
e
s
th
e
b
atter
y
,
wh
ich
s
to
r
es
ele
ctr
ical
en
er
g
y
,
an
d
th
e
DC
/DC
co
n
v
er
ter
,
wh
ich
m
an
ag
es
v
o
ltag
e
le
v
els
to
m
e
et
th
e
r
eq
u
ir
e
m
en
ts
o
f
v
ar
io
u
s
co
m
p
o
n
en
ts
with
in
th
e
v
eh
icle.
T
h
e
tr
ac
tio
n
s
u
b
s
y
s
tem
is
r
esp
o
n
s
ib
le
f
o
r
co
n
v
er
tin
g
elec
tr
ical
en
er
g
y
in
to
m
ec
h
an
ical
m
o
tio
n
an
d
in
clu
d
es
k
ey
co
m
p
o
n
e
n
ts
s
u
ch
as
th
e
elec
tr
ic
m
o
to
r
,
p
o
wer
in
v
er
ter
s
th
at
co
n
tr
o
l
th
e
m
o
to
r
’
s
o
p
er
atio
n
,
to
r
q
u
e
tr
a
n
s
m
is
s
io
n
m
ec
h
an
is
m
s
th
at
d
eliv
er
p
o
wer
to
th
e
wh
ee
ls
,
th
e
wh
ee
ls
th
em
s
elv
es,
an
d
co
n
t
r
o
l
u
n
its
th
at
r
eg
u
late
s
y
s
tem
p
er
f
o
r
m
an
ce
.
C
o
m
p
lem
en
tin
g
th
ese
is
th
e
s
u
p
p
lem
en
tar
y
s
u
b
s
y
s
tem
,
wh
ich
en
h
an
ce
s
v
eh
icle
co
n
tr
o
l a
n
d
s
tab
ilit
y
; t
h
is
in
clu
d
es th
e
s
teer
in
g
u
n
it
[
2
8
]
an
d
th
e
elec
tr
o
n
ic
d
if
f
er
en
tial (
E
D)
.
Un
lik
e
tr
ad
itio
n
al
m
ec
h
an
ica
l
d
if
f
er
e
n
tials
,
wh
ich
r
ely
o
n
g
ea
r
s
to
d
is
tr
ib
u
te
t
o
r
q
u
e
an
d
allo
w
wh
ee
ls
to
r
o
tate
at
d
i
f
f
er
en
t
s
p
ee
d
s
,
th
e
E
D
u
s
es
elec
tr
o
n
ic
co
n
tr
o
l
to
ac
h
iev
e
t
h
e
s
am
e
f
u
n
ctio
n
with
g
r
ea
ter
p
r
ec
is
io
n
an
d
r
esp
o
n
s
iv
en
ess
.
Du
r
in
g
co
r
n
er
i
n
g
,
th
e
in
n
er
an
d
o
u
ter
wh
ee
ls
f
o
llo
w
d
if
f
er
en
t
r
ad
iu
s
,
n
ec
ess
itatin
g
v
ar
y
in
g
r
o
tatio
n
al
s
p
ee
d
s
to
p
r
ev
en
t
tire
s
lip
an
d
m
ain
tain
v
eh
icle
s
tab
ilit
y
.
T
h
e
E
D
u
s
es
in
p
u
t
f
r
o
m
th
e
s
teer
in
g
wh
ee
l
co
n
tr
o
l
s
ig
n
als
to
d
y
n
am
ically
a
d
ju
s
t
th
e
s
p
ee
d
o
f
ea
ch
d
r
iv
in
g
w
h
ee
l,
en
s
u
r
i
n
g
th
at
th
e
v
eh
icle
r
em
ain
s
s
tab
le
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d
r
esp
o
n
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iv
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to
d
r
iv
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r
c
o
m
m
an
d
s
.
T
h
is
elec
tr
o
n
ic
c
o
n
tr
o
l
also
en
a
b
les
ad
v
a
n
ce
d
s
tab
ilit
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f
ea
tu
r
es
s
u
ch
as
to
r
q
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e
v
ec
to
r
i
n
g
an
d
en
h
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ce
d
tr
a
ctio
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n
tr
o
l.
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h
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eh
a
v
io
r
a
n
d
d
y
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am
ics
o
f
th
e
E
D
ar
e
m
ath
em
atica
lly
d
escr
ib
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b
y
d
if
f
er
en
tial
eq
u
atio
n
s
,
wh
ich
ca
p
tu
r
e
th
e
r
elatio
n
s
h
ip
b
etwe
en
s
teer
in
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in
p
u
ts
an
d
wh
ee
l sp
ee
d
s
,
en
ab
lin
g
ac
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r
ate
s
im
u
latio
n
a
n
d
c
o
n
tr
o
l o
f
th
e
E
V’
s
h
a
n
d
lin
g
ch
ar
ac
ter
is
tics
[
2
9
]
.
T
h
e
d
if
f
e
r
en
tial e
lectr
o
n
ic
e
q
u
atio
n
is
g
iv
en
in
(
12
)
[
2
7
]
:
{
∗
=
∗
∗
(
1
−
∗
(
)
2
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∗
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∗
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1
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)
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r
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icien
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h
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wh
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ase
o
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V.
δ T
h
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in
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lef
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h
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r
esp
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.
Fig
u
r
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3
illu
s
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ates
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e
p
r
im
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r
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tr
u
ctu
r
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t
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2
W
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o
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ed
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d
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o
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er
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ed
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y
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o
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tim
ized
DT
C
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n
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o
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s
tem
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Fig
u
r
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3
.
Pro
p
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ed
T
W
D
E
V
7.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
NS
I
n
th
is
s
tu
d
y
,
we
s
im
u
lated
a
T
W
D
E
V
co
n
tr
o
lled
b
y
DT
C
-
SVM
th
r
o
u
g
h
a
n
elec
tr
o
n
ic
d
if
f
er
en
tial
(
E
D)
with
PID
c
o
n
tr
o
ller
s
th
en
FOPID
co
n
tr
o
ller
s
,
o
p
tim
i
ze
d
u
s
in
g
th
e
GW
O
in
MA
T
L
AB
/Si
m
u
lin
k
.
T
h
e
I
T
AE
o
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jectiv
e
f
u
n
ctio
n
was
u
s
ed
to
m
in
im
ize
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e
e
r
r
o
r
o
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er
tim
e
i
n
th
e
co
n
tr
o
l
s
y
s
tem
.
T
h
e
elec
tr
ic
v
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icle
(
E
V)
was e
v
alu
ated
at
d
if
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er
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n
t v
ar
iab
le
s
p
ee
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s
,
in
clu
d
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tin
g
7
0
d
eg
r
ee
s
r
ig
h
t tu
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n
with
in
0
.
6
s
ec
o
n
d
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
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Op
timiz
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fr
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l
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th
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4415
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4
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o
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s
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Ad
d
itio
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ally
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v
a
r
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esis
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q
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e
v
alu
es we
r
e
ap
p
lied
,
as illu
s
tr
ated
in
Fi
g
u
r
e
4
.
Fig
u
r
e
5
h
ig
h
lig
h
ts
th
e
wh
ee
l
s
p
ee
d
r
esp
o
n
s
es
(
W
D1
an
d
W
D2
)
u
s
in
g
DT
C
-
SVM,
G
W
O
-
PID
,
an
d
GW
O
-
FO
PID
co
n
tr
o
ller
s
.
W
h
ile
all
co
n
tr
o
ller
s
ac
cu
r
ately
tr
ac
k
t
h
e
r
e
f
er
en
ce
s
ig
n
als,
GW
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-
FO
PID
s
tan
d
s
o
u
t
with
its
s
u
p
er
io
r
d
y
n
am
ic
p
er
f
o
r
m
an
ce
,
p
ar
ticu
lar
ly
d
u
r
in
g
r
a
p
id
tr
an
s
itio
n
s
s
u
ch
as
ac
ce
ler
atio
n
,
d
ec
eler
atio
n
,
an
d
tu
r
n
in
g
.
T
h
e
zo
o
m
e
d
s
u
b
p
lo
ts
(
a
–
d
)
f
u
r
th
er
co
n
f
ir
m
th
at
GW
O
-
FOPID
co
n
s
is
ten
tly
o
f
f
er
s
th
e
f
astes
t,
m
o
s
t
s
tab
le
r
esp
o
n
s
es
with
m
in
im
al
o
v
e
r
s
h
o
o
t,
esp
ec
ially
in
asy
m
m
et
r
ic
an
d
h
ig
h
-
s
p
ee
d
co
n
d
itio
n
s
.
T
h
is
d
em
o
n
s
tr
ates
its
en
h
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ce
d
r
o
b
u
s
tn
ess
an
d
a
d
ap
tab
ilit
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in
d
y
n
am
ic
d
r
iv
in
g
s
ce
n
ar
io
s
.
Fig
u
r
e
4
.
T
h
e
lo
ad
to
r
q
u
e
(
T
L
)
u
s
ed
in
o
u
r
s
tu
d
y
Fig
u
r
e
5
.
Sp
ee
d
co
n
tr
o
l p
er
f
o
r
m
an
ce
s
Fig
u
r
e
6
illu
s
tr
ates
th
e
to
r
q
u
e
r
esp
o
n
s
e
an
d
r
ip
p
le
b
eh
av
i
o
r
o
f
d
if
f
er
en
t
co
n
tr
o
l
s
tr
ateg
ies
u
n
d
er
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
.
W
h
i
le
all
co
n
tr
o
ller
s
f
o
llo
w
th
e
t
o
r
q
u
e
co
m
m
a
n
d
s
,
DT
C
-
SVM
s
h
o
ws
s
ig
n
if
ican
t
o
v
er
s
h
o
o
t
an
d
o
s
cillatio
n
s
,
esp
ec
ially
d
u
r
in
g
tr
an
s
itio
n
s
.
G
W
O
-
PID
im
p
r
o
v
es
s
tab
ilit
y
b
u
t
s
till
ex
h
ib
its
s
o
m
e
f
lu
ctu
atio
n
s
.
GW
O
-
FOPID
s
t
an
d
s
o
u
t
b
y
d
eliv
er
in
g
th
e
m
o
s
t
s
tab
le
an
d
s
m
o
o
th
to
r
q
u
e
r
esp
o
n
s
e,
r
ed
u
ci
n
g
d
y
n
am
ic
d
is
tu
r
b
a
n
ce
s
.
T
h
e
d
e
tailed
s
u
b
p
lo
ts
f
u
r
th
er
r
ev
ea
l
to
r
q
u
e
r
ip
p
le
p
atter
n
s
d
u
r
i
n
g
b
o
th
tr
an
s
ien
t
an
d
s
tead
y
s
tates.
DT
C
-
SVM
p
r
o
d
u
ce
s
th
e
h
ig
h
est r
ip
p
le,
wh
ile
GW
O
-
PID
s
h
o
ws m
o
d
er
ate
im
p
r
o
v
e
m
en
t.
GW
O
-
FOPID
ag
ain
d
em
o
n
s
tr
ates
s
u
p
er
io
r
p
er
f
o
r
m
a
n
ce
with
m
i
n
im
al
r
ip
p
les
,
lead
i
n
g
to
b
ett
er
m
o
to
r
ef
f
icien
c
y
,
less
m
ec
h
an
ical
s
tr
ess
,
an
d
en
h
an
ce
d
d
r
iv
in
g
co
m
f
o
r
t.
Fig
u
r
e
7
s
h
o
ws
th
at
th
e
c
u
r
r
e
n
t
o
f
th
e
r
ig
h
t
m
o
to
r
in
cr
ea
s
es p
r
o
p
o
r
tio
n
ally
with
th
e
lo
a
d
to
r
q
u
e.
T
h
is
in
d
icate
s
th
at
th
e
co
n
tr
o
l
s
y
s
tem
r
esp
o
n
d
s
ef
f
ec
tiv
ely
to
to
r
q
u
e
d
em
a
n
d
s
,
ad
ju
s
tin
g
th
e
c
u
r
r
en
t
ac
co
r
d
in
g
ly
.
T
h
e
wav
ef
o
r
m
r
em
ai
n
s
s
tab
le
with
m
in
im
al
d
is
to
r
tio
n
,
d
em
o
n
s
tr
atin
g
g
o
o
d
cu
r
r
en
t
r
e
g
u
lati
o
n
an
d
co
n
f
ir
m
in
g
th
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
tr
ateg
y
u
n
d
er
v
ar
y
in
g
lo
ad
co
n
d
itio
n
s
.
Fig
u
r
e
8
i
llu
s
tr
ates
th
e
β
-
ax
is
v
er
s
u
s
α
-
ax
is
f
lu
x
tr
ajec
to
r
y
o
f
th
e
PMSM.
GW
O
-
FOPID
ac
h
iev
es
a
m
o
r
e
co
n
s
is
ten
t
a
n
d
tig
h
ter
ellip
tical
p
ath
th
an
DT
C
-
SVM
an
d
G
W
O
-
PID
,
in
d
icatin
g
b
etter
f
l
u
x
co
n
tr
o
l
a
n
d
r
e
d
u
ce
d
r
ip
p
le.
T
h
is
en
h
an
ce
d
p
er
f
o
r
m
an
ce
co
n
tr
ib
u
tes to
im
p
r
o
v
e
d
m
o
to
r
ef
f
icien
c
y
an
d
s
tab
ilit
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
5
,
Octo
b
e
r
20
25
:
4
4
0
9
-
4
4
2
0
4416
Fig
u
r
e
6
.
E
lectr
o
m
ag
n
etic
t
o
r
q
u
e
Fig
u
r
e
7
.
C
u
r
r
e
n
t o
f
PMSM
Fig
u
r
e
8
.
β
-
ax
is
f
lu
x
d
e
p
en
d
in
g
o
n
th
e
α
-
a
x
is
f
lu
x
o
f
PMSM
Fo
r
s
p
ee
d
as
s
h
o
wn
in
Fig
u
r
e
9
,
th
e
p
er
f
o
r
m
a
n
ce
c
o
m
p
ar
is
o
n
h
ig
h
lig
h
ts
th
at
DT
C
-
SVM
o
f
f
e
r
s
th
e
f
astes
t
r
esp
o
n
s
e
tim
e
(
0
.
0
7
4
s
)
b
u
t
at
th
e
co
s
t
o
f
s
ig
n
if
ica
n
t
o
v
er
s
h
o
t
(
5
8
.
5
6
%)
an
d
h
ig
h
e
r
r
ip
p
le
(
0
.
4
5
%).
I
n
co
n
tr
ast,
GW
O
-
PID
an
d
GW
O
-
FOPID
ex
h
ib
it
n
o
o
v
er
s
h
o
o
t,
en
s
u
r
in
g
ex
ce
llen
t
s
tab
ilit
y
,
with
GW
O
-
FOPID
ac
h
iev
in
g
th
e
lo
west
r
ip
p
le
(
0
.
1
5
%)
an
d
a
m
o
d
er
ate
r
esp
o
n
s
e
tim
e
(
0
.
1
6
s
)
,
wh
ile
GW
O
-
PID
s
h
o
ws
s
lig
h
tly
h
ig
h
er
r
i
p
p
le
(
0
.
2
1
%)
a
n
d
s
lo
wer
r
esp
o
n
s
e
tim
e
(
0
.
2
3
s
)
.
T
h
is
m
ak
es
GW
O
-
FOPID
t
h
e
m
o
s
t
b
alan
ce
d
ap
p
r
o
ac
h
f
o
r
p
r
ec
is
io
n
a
n
d
s
ta
b
ilit
y
f
o
llo
wed
b
y
GW
O
-
PID
tech
n
iq
u
e.
R
eg
ar
d
in
g
elec
tr
o
m
ag
n
etic
to
r
q
u
e
p
r
esen
ted
in
Fig
u
r
e
1
0
,
th
e
co
m
p
ar
is
o
n
s
h
o
ws
th
at
DT
C
-
SVM
p
r
o
v
id
es
a
f
ast
r
esp
o
n
s
e
tim
e
(
0
.
0
5
s
)
b
u
t
s
u
f
f
er
s
f
r
o
m
a
h
i
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[
3
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Evaluation Warning : The document was created with Spire.PDF for Python.